Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 3

Search results for: Jasmin Velagic

3 Design of Smith-like Predictive Controller with Communication Delay Adaptation

Authors: Jasmin Velagic

Abstract:

This paper addresses the design of predictive networked controller with adaptation of a communication delay. The networked control system contains random delays from sensor to controller and from controller to actuator. The proposed predictive controller includes an adaptation loop which decreases the influence of communication delay on the control performance. Also, the predictive controller contains a filter which improves the robustness of the control system. The performance of the proposed adaptive predictive controller is demonstrated by simulation results in comparison with PI controller and predictive controller with constant delay.

Keywords: Predictive control, adaptation, communication delay, communication network.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1603
2 Neural Network Controller for Mobile Robot Motion Control

Authors: Jasmin Velagic, Nedim Osmic, Bakir Lacevic

Abstract:

In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Keywords: Mobile robot, kinematic model, neural network, motion control, adaptive learning rate.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3073
1 Borderline Personality Organization and the Interpersonal Components of Perfectionism: A Review of Two Overlapping Personality Pathologies

Authors: Heather M. Roxborough, Paul L. Hewitt, Gordon L. Flett, Jasmin Abizadeh

Abstract:

This work represents the first review paper to explore the relationship between perfectionistic personality and borderline personality organization. The developmental origins, identity diffusion, interpersonal difficulties, and defense mechanisms that are common to both borderline personality and the interpersonal components of perfectionism are explored, and existing research on perfectionism and borderline personality is reviewed. The importance of the link between perfectionism and borderline features is discussed in terms of its contribution to the conceptual understanding of personality pathology as well as to applied clinical practices.

Keywords: Borderline personality organization, defenses, identity, interpersonal problems, perfectionism.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3295